Adjustable row unit and vehicle with adjustable row unit

ABSTRACT

An agricultural vehicle comprises a left frame and a right frame. A first leg extends upward from the left frame and a second leg extends upward from the right frame to connect the legs to the beam. One or more satellite navigation receivers are associated with beam to determine a position and an attitude of the beam. In on configuration, at least one row unit suspended from the beam, where each row unit has a respective planting device with an adjustable position in one or more dimensions with respect to the beam for precise application or variable application of seeds within the rows or field.

RELATED APPLICATIONS

This document (including the drawings) claims priority and the benefitof the filing date based on U.S. provisional application No. 62/465,060,filed Feb. 28, 2017, and on U.S. provisional application No. 62/544,310,filed Aug. 11, 2017, under 35 U.S.C. § 119 (e), where the aboveprovisional applications are hereby incorporated by reference herein.

FIELD OF DISCLOSURE

This disclosure relates to an adjustable row unit and an agriculturalvehicle with an adjustable row unit.

BACKGROUND

Some prior art planters can control seed density within a given row ofplanted seeds. Deviation of plants from ideal row spacing can beassociated with human error in manual driving of planters or machineerror in automated guidance systems, such as position drift in satellitenavigation receivers without real-time kinematic reference base stationsor without real-time precise correction signals. Sometimes, actual cropyields are reduced from potential crop yields because of the planter'sinaccuracies in the application of seeds or problematic adherence toprescriptions (e.g., zone-based prescriptions of corresponding thedensity, rate, or (row) spacing of seeds) from experienced farmers,agronomists or horticultural experts. Further, the grower or operator ofthe planter may tend to compensate for inaccuracies in planting byover-seeding or applying seeds with extra seed density that can reduceprofit margins for growers (e.g., by requiring corresponding increasedinputs of fertilizer and insecticide). Thus, there is a need for aplanter with adjustable row units to provide appropriate or targetedlevel of seeds to soil or within corresponding zones within a field,such that plant or seed row spacing can be dynamically adjusted in thefield.

SUMMARY

In accordance with one embodiment, an agricultural machine or plantercomprises a left frame and a right frame. A left wheel is rotatable withrespect to the left frame and a right wheel is rotatable with respect tothe right frame. A first leg extends upward from the left frame and asecond leg extends upward from the right frame to connect the legs tothe beam. One or more satellite navigation receivers are associated withbeam to determine a position and an attitude (e.g., angular orientation)of the beam. In on configuration, at least one row unit suspended fromthe beam, where each row unit has a respective planting device with anadjustable position in one or more dimensions with respect to the beamfor precise application or variable application of seeds within the rowsor field.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of one embodiment of the sprayer vehicle oragricultural vehicle.

FIG. 2 is front elevation view of the sprayer in accordance with FIG. 1.

FIG. 3 is an enlarged perspective view of a rectangular region of anupper carriage of a row unit in FIG. 1.

FIG. 4 is an enlarged perspective view a lower carriage of a row unitconsistent with FIG. 1.

FIG. 5 is an exploded perspective view of a lower side of the lowercarriage consistent with FIG. 4.

FIG. 6 is a block diagram of one embodiment of the electrical orelectronic system for the sprayer that uses wireless communications.

FIG. 7 is a block diagram of another embodiment of the electrical orelectronic system for the sprayer.

FIG. 8A is a plan view of an embodiment of the sprayer vehicle with aheading or yaw angle that is aligned with plant rows in a field.

FIG. 8B is a plan view of an embodiment of the sprayer vehicle with aheading or yaw angle that is misaligned with plant rows in a field.

FIG. 9 is a front elevation view of the sprayer vehicle on atransversely sloped ground with a depression beneath one row unit.

FIG. 10 is front elevation view of the sprayer vehicle with targetseparation distances illustrated between the nozzle and ground andbetween the nozzle and plant rows.

FIG. 11 is a plan view of a sprayer vehicle in an illustrative fieldfollowing a path plan to treat or spray an area of a field.

FIG. 12 is a front elevation view of a planter vehicle with twoillustrative planter row units.

FIG. 13 is side view of a lower carriage of a planter row unit as viewedalong reference line 13-13 of FIG. 12.

FIG. 14 is a front elevation view of a sprayer vehicle with twoillustrative sprayer row units.

FIG. 15 is a perspective view of an alternate embodiment of a lowercarriage of a sprayer row unit as viewed along reference line 15-15 ofFIG. 14.

FIG. 16 is a perspective view of an alternate embodiment of a lowercarriage of a planter unit that supports dynamic placement of seeds.

FIG. 17 is a perspective view of an alternate embodiment of a lowercarriage of a planter unit that is equipped with dynamic placement ofseeds and a rotatable soil tiller.

Like reference numbers in any set of drawings indicates like elements orfeatures.

DETAILED DESCRIPTION

In accordance with one embodiment, FIG. 1 illustrates an agriculturalmachine or sprayer vehicle 11 that comprises a left frame (26, 60, 64,60, collectively) and a right frame (27, 58, 62, collectively) that areconnected by a beam 10. Although the agricultural machine illustrated inFIG. 1 is configured as a sprayer, the sprayer vehicle 11 oragricultural machine can be configured as a planter or a differentsprayer by replacing the lower carriage 66 of the row unit withalternate lower carriages later described in this document in FIG. 12through FIG. 15, for example. At least one left wheel 42 is rotatablewith respect to the left frame and at least one right wheel 44 isrotatable with respect to the right frame. A first leg 26 extends upwardfrom the left frame and a second leg 27 extends upward from the rightframe to connect to the beam 10. As illustrated, the first leg 26 has anupper member 28 that is connected (e.g., coaxially or telescopically)with a lower member 30; the second leg 27 has an upper member 28 that isconnected (e.g., coaxially or telescopically) with a lower member 30,although the first leg 26 and the second leg 28 may comprise continuousmembers in other embodiments. One or more location-determining receivers(22, 24), such as satellite navigation receivers, are associated withbeam 10 to determine a position and an attitude (e.g., angularorientation) of the beam 10. As illustrated in the drawings and setforth in this document, the Y axis 80 is coextensive with the lateraldirection of the beam 10, and the X axis 78 is substantiallyperpendicular to the beam 10. The X axis 78 runs in the longitudinaldirection, which can be aligned with the direction of forward travel ofthe sprayer vehicle 11. The Z axis 82 runs in the vertical direction.

In accordance with another aspect of the disclosure, one or more rowunits (63, 65) are suspended from the beam 10, such that the position(e.g., three dimensional position) of nozzle 76 or nozzles on each rowunit can be adjusted simultaneously and dynamically in multipledimensions to maintain a target (e.g., uniform) spacing between thenozzle 76 ground 150, or between the nozzle 76 and a guidance path orpath plan of the sprayer vehicle 11, or between the nozzle 76 and aplant or row of plants 148 (e.g., as the sprayer moves in the field inreal time).

Each row unit (63 or 65) has a corresponding nozzle 76 or a set ofnozzles 76 with an adjustable position in one or more dimensions withrespect to the beam 10, along with adjustable or fixed roll, tilt andyaw angles of the nozzle 76 or set of nozzles 76. For example, for eachrow unit (63 or 65), the nozzle 76 can be adjusted in three-dimensions,such as height (Z axis 82), lateral (Y axis 80), and longitudinal (Xaxis 78) with respect to specific plants 148, stems, stalks, trunks,vines, roots, foliage, leaves, leaf canopies, plant rows, or targetzones based on image data or other sensor data, while the sprayer isguided along a path plan in accordance with one or morelocation-determining receivers (22, 24), such as satellite navigationreceivers equipped with wireless communication devices to receivecorrection data.

Location-Determining Receivers

In one configuration, each location-determining receiver (22 or 24) maycomprise any satellite navigation receiver, such as a Global PositioningSystem (GPS) receiver, a Global Navigation Satellite System (GLONASS)receiver, or another satellite navigation receiver, where eachlocation-determining receiver (22, 24) may use differential phasecorrection or other correction signals associated with one or morereference satellite receivers in known geographic locations.

In one embodiment, sprayer may use only one location-determiningreceiver (22 or 24), such as a first satellite navigation receiver(e.g., multi-channel satellite navigation receiver), with two switchedantennas 901 or time-multiplexed antennas that are spatially separatedalong the beam 10 by a known baseline distance, such as a first antennaat or near a first end of the beam 10 and a second antenna at or near asecond end of the beam 10. For example, the first end and the second endof the beam can be at or near opposite ends of the beam.

The first location-determining receiver 22 can determine: (1) a firstposition of a first antenna based on first carrier phase measurements offour or more satellite signals at a first time when the antenna switchis in a first state with an active first antenna and disconnected secondantenna, (2) a second position of a second antenna 901 based on secondphase measurements four or more satellite signals at a second time whenthe antenna switch is in a second state with an active second antennaand disconnected from the first antenna, wherein the first time andsecond time are within a maximum time interval, and (3) a vectordifference between the first position and the second position toestimate a reference point position and an attitude of the beam 10.

In another embodiment, the sprayer may use both the firstlocation-determining receiver 22 and the second location-determiningreceiver 24 such as a first satellite navigation receiver and a secondsatellite navigation receiver that are separated along the beam 10 by aknown baseline difference. The first location-determining receiver 22 islocated on a first end of the beam 10, wherein the secondlocation-determining receiver 24 determines a first position (e.g.,three-dimensional coordinates of the receiver's antenna). The secondlocation-determining receiver 24 is on a second end of the beam 10opposite the first end. The second location-determining receiver 24determines a second position simultaneously with the determination ofthe second position (e.g. three-dimensional coordinates of thereceiver's antenna).

An electronic data processor (903 in FIG. 7) or a location-determiningreceiver (22, 24) is adapted to estimate the reference point associatedwith the beam 10 of the machine and an angular orientation or attitudeof the beam 10 relative to the reference point. For example, a dataprocessor 903 estimates a reference point on or projected directly belowthe machine on the ground 150 and an angular orientation or attitude ofthe beam 10 relative to the reference point. In some configurations, theangular orientation is determined by a vector difference between thefirst position and the second position observed during a time intervalor the same time period. The attitude refers to the tilt angle, the rollangle or yaw angle of the beam 10, sprayer 11 or agricultural machine.

Path Planning and Vehicle Guidance

As illustrated in FIG. 1, the sprayer vehicle 11 has two left wheels 42and two right wheels 44. The propulsion system of the sprayer vehicle oragricultural vehicle supports steering of the sprayer vehicle 11 inaccordance with one or more of the following: (1) the position data andassociated attitude of the beam 10 or vehicle 11 from one or morelocation-determining receivers (22, 24) or the electronic data processor903, (2) the image data from the imaging device 124 on the location ofthe beam 10 or sprayer vehicle 11 with respect to plant rows, guidanceline, a center of a row, or plants 148, and (3) path plan, guidanceline, mission plan, or any of the combination thereof, established by amaster data processing system 902, or its path planning module 910, orits mission planning module 909, respectively. The mission planningmodule 909 may allow a grower to program or direct the sprayer vehicle11 to spray, treat or fertilize crops or plants 148 in a field inaccordance with a guidance plan or path plan. The path planning module910 can use a survey, field boundaries and keep-out zones, or prior mapsto generate a path plan for the sprayer vehicle 11 to cover an entirearea of a field with spray with minimal overlap of crop inputs.

In one embodiment, the left wheel 42(s) and the right wheel 44(s) have adifferential rate of rotation with respect to each other to adjust theyaw of the sprayer vehicle 11, or turn or steer the sprayer vehicle 11to the left or to the right, in accordance with a path plan, ordeviation from a path plan to avoid obstacles, hazards, people oranimals.

In one configuration, a first drive motor 48 is associated with the leftwheel 42 and a second drive motor 50 is associated with the right wheel44. For example, the first drive motor 48 and the second drive motor 50may drive the left wheel 42 and the right wheel 44 respectively, by achain 46, belt or other mechanism.

In an alternate embodiment, the first drive motor 48 and the seconddrive motor 50 may be integral to the respective hubs of the wheels.

The first drive motor 48 and the second drive motor 50 may representalternating current motors, permanent magnet motors, induction motors,switched reluctance motors, direct current motors, electric motors, orother electrical machines. In one illustrative example, the first motorcontroller 52 provides a first alternating current signal to control thetorque, direction or speed of rotation of the first drive motor 48; asecond motor controller 54 provides a second alternating current signalto control the rotation of the second drive motor 50.

Referring to FIG. 6 and FIG. 7, the slave node controller 801, a drivenode system 130 or data processor can provide command data messages tothe first motor controller 52 and the second motor controller 54 forstraight path segments, such as AB guidance lines or parallel pathsthereto, or curved path segments, such as contour path segments orparallel paths thereto. The slave node controller 801, drive node system130 or data processor 903 can apply various techniques separately orcumulatively to steer or direct the sprayer vehicle 11 or agriculturalmachine. Under a first technique, the slave node controller 801, drivenode system 130 or data processor can effectuate a substantiallyidentical rate of rotation between the first drive motor 48 and thesecond drive motor 50 to maintain a straight linear path of the sprayer11 or agricultural machine in accordance with a path plan such that thebeam 10 forms a substantially right angle of the angular orientationwith respect to one or more plant rows of a field.

Under a second technique, slave node controller 801, a drive node system130 or a data processor 903 provides command data messages to the firstmotor controller 52 and the second motor controller 54 to effectuate asubstantially differential rate of rotation between the first drivemotor 48 and the second drive motor 50 to maintain a curved path segmentof the sprayer vehicle 11 or agricultural machine in accordance with apath plan such that the beam 10 forms a substantially right angle of theangular orientation with respect to an intercept of the beam 10 with thecurved path segment.

In one embodiment, a battery module 98 is associated with the leftframe, the right frame or both for providing electrical energy to thefirst motor controller 52 and to the second motor controller 54. Inturn, the first motor controller 52 and the second motor controller 54provide control signals, such as pulse-width modulated signals or otheralternating current signals, to control the torque, speed, or directionof the rotor of the first drive motor 48 and the second drive motor 50to propel and steer the vehicle 11 along a path plan, guidance line orguidance path. As illustrated in FIG. 1, each first motor controller 52may control one or more first drive motors 48 and each second motorcontroller 54 may control one or more second drive motors 50.

In one illustrative embodiment, the battery module 98 can be rechargedat recharging station or at a suitable source of alternating currentvoltage or direct current voltage.

In an alternate embodiment, the sprayer vehicle 11 or agriculturalvehicle includes a generator 99 for providing electrical energy to thebattery module 98. For example, the generator 99 may comprise thecombination of an alternator that outputs alternating current and arectifier that converts the alternating current to direct current. Aninternal combustion engine 101 provides rotational energy to thegenerator 99. A generator 99 rotor shaft can be driven by the crankshaftof output of an internal combination engine 101.

Row Unit

In one embodiment, shown in FIG. 2, the sprayer comprises a group of rowunits (63, 65) that are suspended from the beam 10, where each row unitcan service one or more plant rows from a set of one or more nozzles 76.In one example, a first row unit 63 that is suspended from the beam 10with at set of first nozzles 76 and second row unit 65 is suspended fromthe beam 10 with a set of second nozzles 76. The first row unit 63 andthe second row unit 65 are spaced apart from each other. A dataprocessor 903, implement node system 132, or slave node controller 801,alone or together, can independently adjust a first three-dimensionalposition of the first row unit 63 from a second three-dimensionalposition of the second row unit 65, provided the row units areadequately separated to protect against collision with each other. Inone embodiment, the data processor 903 or master data processing system902 has master control or supervisory control of the data processingwithin the implement node system 132 or its slave node controller 801,where the master data processing system 902 can assign tasks, functions,calculations or execution to the implement node system 132 in accordancewith parallel processing or sequential processing software instructions,such as sharing data for processing in addressable memory of the datastorage device 906.

Each row unit (63, 65) and its associated nozzles (76, 176) have adistinct and independent three-dimensional position or row unitcoordinates that can be observed and controlled separated by the dataprocessing system 902 and the associated controllers (e.g., slave nodecontrollers 801, upper motor controller 17, first adjustment controller72, second adjustment controller 74) under its supervisory control. Thelocation determining receivers (22, 24) can provide global position andattitude of the sprayer vehicle 11 (e.g., or its beam 10), while eachrow unit (63, 65) simultaneously provides estimated height (e.g., Z-axisposition), longitudinal (e.g., X-axis position), and lateral position(e.g., Y-axis position), which may be referred to as row unitcoordinates, for the lower carriage 66, the first position adjuster 68or its associated nozzles (76, 176). For example, the upper motor 16 maybe associated with an encoder for estimating a rotor position of theupper motor 16, alone or in combination with the upper motor controller17 to derive the row unit coordinates; the first adjustment actuator 118may be associated with an encoder for estimating a first actuatorposition to derive the row unit coordinates; the second adjustmentactuator 120 may be associate with an encoder for estimating a secondactuator position to derive the row unit coordinates. In one embodiment,during one or more time intervals, the data processing system 902determines, by vector addition, linear algebra or otherwise, the globalor real world coordinates of the row unit, its lower carriage 66, or itsnozzles (76, 176) based on observed position and attitude of the sprayervehicle 11, along with the observed row unit coordinates of a row units.For example, in the data processing system 902 the respective Y-positionof each row unit (or its upper carriage 18) along the beam 10 interceptsa corresponding vector representative of vehicle orientation based onthe associated vehicular position and vehicular attitude to establish anestimate real-world Y-position of the nozzle (76, 176) on the particularrow unit, which can be corrected for any material lateral slope of theground given the height of the antenna of the location-determiningreceiver (22, 24) above ground.

However, in alternate embodiments, the upper motor controller 17 may beadapted to estimate the rotor position of the upper motor 16 without anyencoder; the first adjustment controller 72 may be adapted to estimatethe first actuator position of the first adjustment actuator 118; thesecond adjustment controller 74 may be adapted to estimate the secondactuator position, where the implement node system or the master dataprocessing system 902 can estimate the row unit coordinates associatedwith the nozzles (76, 176) of one or more row units (63, 65).

Imaging Device

In one embodiment, an imaging device 124 is mounted on the beam 10 orone of the legs (26, 27) to collect image data to determine a firstlateral distance between the first row unit 63 (or its first nozzle 76)and a first row of plants 148 and a second lateral distance between thesecond row unit 65 (or its second nozzle 76) and a second row of plants148. The imaging device 124 may have a primary field of view thatincludes one or more row units (63, 65) and respective rows of crops;further the imaging device 124 may have a primary or secondary field ofview that extends forward in the direct of travel of the sprayer vehicle11. The row spacing of the plants in the particular field may be knownfrom as-planted data, a seed planting map, row spacing of the planter orplanting implement that was used to plant a field, or a zone or portionof field. A planter or its computer system may provide the source forsuch as-planted data or a seed planting map in a suitable format foruploading or inputting to the master data processing system via a dataport or a user interface, such as keyboard, a pointing device anddisplay. In some circumstances, the row unit (63, 65) or lower carriage66 is generally laterally centered between two adjacent rows of plants148 such that nozzles 76 can be simultaneously directed outward to treatthe two adjacent rows of plants 148 at once during a single pass of thevehicle 11. In other circumstances, the row unit (63, 65) or a or lowercarriage 66 is positioned at a target lateral distance such as: (a) thefirst lateral distance between the lower carriage 66 and the plants 148of a row, (2) a first lateral distance (e.g., a lateral offset) or nolateral distance between a center point or guidance line between twoadjacent plant rows, or (3) the first lateral distance between one ormore nozzles 76 of the lower carriage 66 unit and the plants 148 of theplant row. The lateral difference setting of the nozzle 76 may dependupon the height of the nozzle 76 in some configurations, and could bestored as a data structure (e.g., a look-up table) of height settingsand corresponding lateral settings or lateral offsets in the datastorage device 906 for execution by the drive node system 130, theimplement node system 132, and the master node system 134.

In one configuration, an imaging device 124 is mounted on the beam 10 orone of the legs 86 to collect image data to estimate on or more of thefollowing: (1) a first ground 150 clearance between the first row unit63 and the ground 150 and a second ground 150 clearance between thesecond row unit and the ground 150; and (2) a first height of a firstnozzle 76 of the first row unit 63 and a second height of a secondnozzle 76 of a second row unit.

In another configuration, an imaging device 124 is mounted on the beam10 or one of the legs (26, 27) for determining a first longitudinaloffset between a first nozzle 76 of the first row unit 63 and arespective plant center (e.g., foliage center of mass or volume withrespect to plant pixels or voxels) or plant stem, and a secondlongitudinal offset between a second nozzle 76 of the second row unitand a respective plant center or plant stem.

In one embodiment, the sprayer vehicle 11 or agricultural machineincludes a first tank 36 supported on or by the left frame or firstshelf system 60 of one or more shelves or stacked shelves. Asillustrated, the first leg 26 terminates at a first horizontal support56 that provides support for mounting the axel or hub of one or moreleft wheels 42, or that provides support for the first shelf system 60.One or more supports 64 may provide bracing and structural rigiditybetween the first leg 26 and the first horizontal support 56, for theshelf systems (60, 62) or otherwise. The first tank 36 facilitatesstoring a fluid or crop input for distribution onto a field, plants 148,or soil. A first pump 32 is arranged for pumping a fluid stored in thefirst tank 36 to a set of first nozzles 76 via tubing 136 for targeteddistribution to a zone of a field, a particular row in a field or toparticular plants 148 or portions of plants 148 in the field because thethree-dimensional position of a nozzle 76 or set of nozzles 76associated with each row unit can be controlled. Although the nozzle 76is pointed downward in FIG. 1 for the first row unit 63 or leftmost rowunit, it is understood that the nozzle or an optional set of nozzles 176(shown in FIG. 2 in dashed lines) may face outward or in any otherorientation, or roll, tilt and yaw angles that are suitable fordirecting the crop input or fluid to its intended target, such as aplant, a row of plants, the foliage of plants, the base, stem, vine,trunk or stalk of the plants, or the roots of plants.

A second tank 38 is supported on or by the right frame or second shelfsystem 62 of one or more shelves or stacked shelves. As illustrated, thesecond leg 27 terminates at a second horizontal support 58 that providessupport for mounting the axel or hub of one or more right wheels 44, orthat provides support for the second shelf system 62. The second tank 38facilitates storing a fluid or crop input for distribution onto a field,plants 148, or soil. A second pump 34 is arranged for pumping a fluidstored in the second tank 38 to a set of second nozzles 76 via tubing136 for targeted distribution to a zone of a field, a particular row ina field or to particular plants 148 or portions of plants 148 in thefield because the three-dimensional position of a nozzle 76 or set ofnozzles 76 associated with each row unit (63, 65) can be controlled.Although the nozzle 76 is pointed downward in FIG. 1 for the second rowunit 65 or rightmost row unit, it is understood that the nozzle or anoptional set of nozzles 176 (shown in FIG. 2 in dashed lines) may faceoutward or in any other orientation, or roll, tilt and yaw angles thatare suitable for directing the crop input or fluid to its intendedtarget, such as a plant, a row of plants, the foliage of plants, thebase, stem, vine, trunk or stalk of the plants, or the roots of plants.

In one embodiment, one or more auxiliary tanks 40 can service additionalcorresponding row units 40 or can provide extra capacity for the firstrow unit 63 and second row unit 65.

Row Unit

In FIG. 1 and FIG. 2, each row unit (63, 65) has an upper carriage 18and a lower carriage 66 that is coupled to or ganged with the lowercarriage 66. An upper carriage 18 is movable or slidable with respect toa generally horizontal beam 10 of a sprayer vehicle 11. A plurality ofvertical supports 13 suspends the lower carriage 66 from the uppercarriage 18, or supports 64 the lower carriage 66. Each vertical support13 has an upper end connected to the upper carriage 18 and a lower endopposite the upper end. A lower carriage 66 is connected to the lowerend of the vertical supports 13, such that the upper carriage 18determines a lateral position of the lower carriage 66 with respect tothe beam 10.

In any embodiments, multiple row units (63, 65) may be used thatcomprise multiple upper carriages 18 and respective lower carriages 66.Mutually exclusive lateral zones of the carriages can be separated by aprotection zone where multiple upper carriages 18 and lower carriages 66are associated with the sprayer vehicle 11 to avoid interference betweenany two adjacent lower carriages 66 or upper carriages 18.

Upper Carriage

As best illustrated in FIG. 3, the upper carriage 18 has a frame 14,where at least at least two rollers 21 are rotatable about a rotationalaxis with respect to the frame 14. The rollers 21 face one or more ofthe following beam 10 surfaces: a top surface of the beam 10, a frontside of the beam 10, and a rear side of the beam 10. The front side ofthe beam 10 is opposite the rear side of the beam 10. In oneconfiguration if side rollers 21 are used, the front-side roller and therear-side roller can be clamped or compressed against the beam 10 toprevent movement along the X axis 78 and to support movement of theupper carriage 18 along the Y axis 80. In one embodiment, the rollers 21are biased by springs or other biasing members against the beam 10.

In one embodiment, at least one surface of the beam 10 has a rack gear20 or rack teeth. For example, as illustrated in FIG. 1, the rack gear20 is on an interior horizontal bottom surface, although the rack gear20 could be formed or mounted on other surfaces of the beam 10. A pinongear (not shown) or other gear of an upper motor 16 engages the rackgear 20. An upper motor 16 drives the pinon gear to move (or tolaterally slide) the upper carriage 18 in a lateral direction along thebeam 10, or generally along the Y axis 80. An upper motor controller 17provides control signals to the upper motor 16 to move the uppercarriage 18 along the beam 10 in response to data messages or commandsfrom a central data processor 903, a slave node controller 801, orotherwise.

As illustrated, the upper carriage 18 has brackets 12 for securing aplurality of generally vertical supports 13 in a fixed verticalposition. In one configuration, the brackets 12 may comprise clamps,such as U-clamps, whereas in other configurations the brackets 12 mayuse bolts or screws to compress a sleeve or retainer (not shown) arounda portion of the vertical supports 13.

In an alternate embodiment, a set of openings 15 in the frame 14, orpylons 19 thereof, may complement or replace the bracket 12.

The vertical supports 13 may comprise tubes, rods, beams, telescopictubes or other support members. Although four vertical supports 13 areillustrated in FIG. 1, in alternate embodiments other numbers ofvertical supports 13 may be used, such as three vertical supports or asfew as one support with a cross section sufficient to provide stability(e.g., in three dimensions).

In an alternate embodiment, the vertical supports 13 comprise movable oradjustable threaded rods or supports with rack gear teeth that supportvertical adjustment of the lower carriage 66 member with respect to theupper carriage 18 member or the beam 10; where such vertical adjustmentcould be used alone, or cumulatively with the first position adjuster68. In one alternate embodiment, a linear actuator is positioned on theupper carriage 18 to support movement of each threaded rod or alternatevertical support to raise or lower the lower carriage 66 or implementcarriage.

In another alternate embodiment, a vertical adjustment motor with acorresponding pinion gear engages each vertical support with acorresponding rack gear to raise or lower the lower carriage 66 orimplement carriage. For example, one vertical linear actuator orvertical motor is used per alternate vertical support to move thesupport; hence, raise and lower carriage 66 in unison. The verticallinear actuator or vertical motor can be used to adjust the verticalheight of a plurality of row units to conform to a target height abovethe ground 150, where the vertical distance between the upper carriage18 and the lower carriage 66 may differ for each pair of upper carriage18 and lower carriage 66 as the vehicle travels through a field withuneven, tilted or laterally sloped ground.

As previously indicated, the upper carriage 18 comprises a frame 14 anda set of rollers 21 that are rotatable with respect to the frame 14 andthat ride against a surface of the beam 10. An upper motor 16 is mountedto the frame 14 and the upper motor 16 has a shaft that terminates in apinion gear. A rack gear 20 is attached to or formed on the beam 10,where the pinon gear engages to the rack gear 20 to support simultaneouslateral adjustment of the upper carriage 18 and the lower carriage 66.The upper motor controller 17 provides a control signal to control theupper motor 16 to position a nozzle 76 or set of nozzles 76 on the lowercarriage 66 in accordance with a target lateral separation to a row ofplants 148, a path plan or a guidance line, where the control signalresponsive to an image data from an imaging device 124 or sensor datafrom another sensor, such as an laser scanning device, a laser rangefinder, an ultrasonic position sensor, a light detection and ranging(LIDAR) device or otherwise.

The lower carriage 66 supports movement of a three-dimensional position(e.g., targeted x, y and z position coordinates) of a nozzle 76 on thelower carriage 66 by a first position adjuster 68 for adjusting height(z-axis position) of the nozzle 76 and a second position adjuster 70 foradjusting a longitudinal position (x-axis position) of the nozzle 76based on one or more of the following: (1) image data of the imagingdevice 124, (2) processed stereo image data derived (e.g., threedimensional representations of pixels or voxels of plant or plant rows)from the image data by the image processing module 911, (3) heading oryaw data of the sprayer vehicle 11 from the location-determiningreceiver (22, 24), and (4) ground speed, velocity and/or acceleration ofthe sprayer vehicle 11. In one example, the height can be adjusted tomaintain a minimum height clearance with respect to the ground 150 andto maintain a relative height to a peak plant height, central foliageheight, or peak leaf canopy height based on image data. In anotherexample, the lower carriage 66 supports movement of a three-dimensionalposition of a nozzle 76 on the lower carriage 66 by the second positionadjuster 70 for adjusting a longitudinal position of the nozzle 76 toreduce or minimize a longitudinal offset between the nozzle 76 and plantstem or central plant portion. For example, the adjustment of thelongitudinal position of the nozzle or nozzles (76, 176) of a row unitmay consider the ground speed, velocity and acceleration and yaw angleof the sprayer vehicle 11 from one or more location-determiningreceivers (22, 24) to determine or estimate a longitudinal adjustment ofthe second position adjuster 70 for alignment or registration with atarget zone of the field or a target zone of plants. The adjustments ofthree-dimensional position can be made and updated for each timeinterval.

First Position Adjuster of Lower Carriage

FIG. 4 illustrates a perspective view of the lower carriage 66. In oneembodiment, the lower carriage 66 comprises a first position adjuster 68for adjusting height of a nozzle 76 associated with the row unit (63,65). For example, the first position adjuster 68 comprises a lowerplatform 90 and an upper platform 88 spaced apart from the upperplatform 88. A group of legs 86 with pivot points (92, 122) is arrangedto movably connect the lower platform 90 to the upper platform 88. Thepivot points (92, 122) may comprise rivets, shafts, or bolts and nuts,swaged members, the like. A first support member 94 is associated withcentral pivot points 92 of the legs 86. A second support member 96 isassociated with central pivot points 92 of the legs 86. The secondsupport member 96 is located opposite from the first support member 94.A threaded rod 116 engages a threaded bore 117 in the first supportmember 94 and the threaded rod 116 extends toward the second supportmember 96 or first adjustment actuator 118 that is attached to thesecond support member 96. A first adjustment actuator 118 is arrangedfor turning the threaded rod 116 to change the height of the lowerplatform 90 with respect to the upper platform 88; hence, adjustprecisely the height of a nozzle 76 located on the lower platform 90.

In one configuration, one end of each of the legs 86 terminates in gearteeth 140 and further comprises idler gears 138 mounted on sides of theupper platform 88 and lower platform 90 for engaging the gear teeth 140.The gear teeth 140 and idler gears 138 prevent twisting of the legs 86or misalignment between the lower platform 90 and the upper platform 88in which planar surfaces associated with the lower platform 90 and theupper platform 88 are no longer or not substantially parallel. The gearteeth 140 or idler 140 gears provide some constraint of motion betweenupper platform 88 and the lower platform 90 to remain substantiallyparallel or properly aligned through any height adjustment. In sum, thefirst position adjuster 68 comprises a first scissors linkage 84 thatholds a precise target vertical separation between the upper platform 88and the lower platform 90 and the vertical separation is adjustableprecisely and quickly in real time by operation of the first adjustmentactuator 118 that turns dynamically a threaded rod 116 or screw, even asthe sprayer vehicle 11 traverses a path plan in the field.

A first adjustment controller 72 provides a control signal to thecorresponding first adjustment actuator 118. The first adjustmentcontroller 72 may be located on the first position adjuster 68 or theupper platform 88, for instance. However, in other configurations thefirst adjustment controller 72 may be integral with or housed within acommon housing of the first position adjuster 68.

The first adjustment controller 72 can instruct the first adjustmentactuator 118 to move the first scissors linkage 84 from a contractedposition along the Z axis 82 to an expanded position along the Z axis82, or vice versa, where the difference between the fully contractedposition and the fully expanded position defines the maximum range oftravel for the first position adjuster 68. The first scissors linkage 84can maintain its adjustment or setting in the presence of considerableloads or force in the Z axis 82 direction.

If the implement carriage is used for a sprayer, a nozzle 76 or a set ofnozzles 176 may be mounted on the lower platform 90 as illustrated inFIG. 2 to support adjustment of the vertical height of the nozzle 76along the Z axis 82, whereas the lateral position is adjusted by theupper carriage 18.

Second Position Adjuster of the Lower Carriage

As best illustrated in FIG. 4 and FIG. 5, in each row unit (63, 65) thesecond position adjuster 70 comprises a frame 100 that is coupled forrelative longitudinal movement with respect to the first positionadjuster 68. A first end 102 is attached to or integral with one side ofthe frame 100. A second end 104 is attached to or integral with anopposite side of the frame 100 with respect to the first end 102.

A rod 106 or rail extends between the first end 102 and the second end104, where the rod 106 or rail may be inserted into a recess 108 orsocket in the first end 102 and the second end 104 for retaining the rod106 or rail. An upper surface of the upper platform 88 supports fourbushings 111 with openings 110 (e.g., substantially cylindrical openingsor polygonal openings 110) corresponding in size and shape to the crosssection of the rods 106 or rails. Bushings 111 are affixed to the firstposition adjuster 68 for engaging or slidably guiding the rod 106 orrail. For example, the bushings 111 may have an opening 110 thatconforms to the shape and size of the cross-section of the rod 106 orrail for slidable engagement therewith. The openings 110 may containbushings 111 or bearings and may be lubricated with oil, grease, orother lubricant.

A second scissors linkage 112 has a first coupling point (e.g., at end126) to the first position adjuster 68 and a second coupling point(e.g., at end 128) to a link member 142. A second adjustment actuator120 or linear actuator is adapted to provide a linear motion to the linkmember 142 such that the first position adjuster 68 is longitudinallydisplaced or adjusted with respect to the frame 100, or the secondposition adjuster 70.

In alternate embodiments, the second adjustment actuator 120 maycomprise a linear actuator with ends coupled between two opposite endpivot points 144 of the second scissors linkage 112, near the end 126.

In one configuration, a set of one or more nozzles 76 are located on thesecond position adjuster 70. A nozzle 76 located on the second positionadjuster 70 can be adjusted along a longitudinal axis, for instance.

An implement node system 132, a slave node controller 801, or a dataprocessor 903 controls or supervises an upper controller, a firstadjustment controller 72 and a second adjustment controller 74 for theeach row unit (63, 65), where each row unit (63, 65) can be controlledindependently within a positional range (e.g. lateral range) that avoidscollision or interference with adjacent row units. An upper motorcontroller 17 provides a lateral control signal to the upper motor 16 tocontrol a lateral position of a nozzle 76 on the lower carriage 66. Afirst adjustment controller 72 provides a height control signal to thefirst adjustment actuator 118 to control a height position of the nozzle76 on the lower carriage 66. A second adjustment controller 74 providesa longitudinal control signal to the second adjustment actuator 120 tocontrol a longitudinal position of the nozzle 76 on the lower carriage66. For instance, the upper controller, the first adjustment controller72 and the second adjustment controller 74 can simultaneously anddynamically adjust in real time a three-dimensional position of thenozzle 76 through control of the lateral position, the height positionand the longitudinal position, even as the sprayer vehicle 11 progressesthrough the field.

In one embodiment, the upper carriage 18 is laterally movable along thebeam 10 (along Y axis 80) and a lower carriage 66 suspended from theupper carriage 18 by a plurality of vertical supports 13 13, such asrods, rails, cylindrical members, beams, or other supports. A targetlateral position of the upper carriage 18 generally establishes anactual lateral position of the lower carriage 66.

In certain embodiments, the vertical supports 13 may be composed ofmetal, alloys, plastic, polymers, plastic composites, polymercomposites, fiberglass, carbon fiber or carbon fiber in a resin matrix.

In one embodiment, the data processor 903 compensates for a potentialoffset or lateral offset between the target lateral position and theactual lateral position, including misalignment or bending of thevertical supports 13 (e.g., damaged by interaction with the ground atoperational vehicle speeds). The lower carriage 66 is suspended by thesupports 64 from the upper carriage 18. In one embodiment, the uppercarriage 18 can set, adjust or establish the Y axis 80 position of thelower carriage 66 because the lower carriage 66 tracks the Y axis 80position of the upper carriage 18 with substantially no Y axis 80 offsetor one or more of the following: a fixed Y axis 80 offset or a fixedthree-dimensional offset of the z, y and z axes.

A second position adjuster 70 or second adjustment assembly can adjustthe for-and-aft position of the nozzle 76, or the longitudinal positionof the first position adjuster 68. During some maneuvers or movement ofthe vehicle, the for-and-aft position or longitudinal position may notcoincide with the heading, yaw or direction of travel of the vehicle(e.g., where the vehicle moves diagonally or where the previous front ofthe vehicle becomes the rear), such that the second position adjuster 70can keep the nozzle 76 aligned with respect to one or more target rowsof plants. The second position adjuster 70 comprises a frame 100 with afirst end 102 and second end 104. The first end 102 and the second end104 are attached to the frame 100 or are integral with the frame 100.The frame 100 supports two parallel sets of rods 106 or rails. Forexample, the rods 106 or rails can be attached at their ends to thefirst end 102 and the second end 104, where the rods 106 or rails may beinserted into a socket or retention recess 108.

In one embodiment, a second scissors linkage 112 is positioned in arecess 108 or spatial zone defined by or between the upper platform 88and the frame 100. One end 126 of the second scissors linkage 112 isconnected to the upper platform 88, whereas another end 128 of thesecond scissors linkage 112 is connected to link member 142, which ismovable by the second adjustment actuator 120. The second adjustmentcontroller 74 can instruct the second adjustment actuator 120 to movethe second scissors linkage 112 from a contracted position along the Xaxis 78 to an expanded position along the X axis 78, or vice versa,where the difference between the fully contracted position and the fullyexpanded position defines the maximum range of travel for the secondposition adjuster 70. As illustrated the second scissors linkage 112comprises a series of beams 114 that are joined together at centralpivot points 146 and outer pivot points 144, where the second scissorslinkage 112 can expand and contract in an accordion-like manner inresponse to movement by the second adjustment actuator 120. The secondscissor linkage 112 can act as a stroke multiplier to increases theamount of output displacement in the longitudinal or X axis 78 directionfor a lesser input displacement of the linear actuator or secondadjustment actuator 120 in the X direction.

In one embodiment, the second adjustment actuator 120 is attached to theframe 100 or to the second end 104. For example, the second adjustmentactuator 120 may comprises a longitudinal adjustment linear actuator orlongitudinal adjustment motor associated with a link member 142, such asa linkage, rod, shaft or threaded rod 116.

In an alternate embodiment, the second adjustment actuator 120 comprisesa linear actuator that is connected or coupled between two outer pivotpoints 144 at one terminating end of the second scissors linkage 112,whereas the other terminating end of the second scissors linkage 112 iscoupled to the platform or the second end 104.

In another alternate embodiment, a combination of a threaded rod andmotor can be coupled between the two outer pivot points 144 at aterminating end 128 of the second scissors linkage 112, whereas theother terminating end 126 of the scissors linkage 112 is coupled to theupper platform 88. Near the end 128 at one outer pivot point 144, acoupler has a shaft on one side for engagement with the outer pivotpoint 144 and threaded recess with a recess axis that is substantiallyorthogonal to the shaft axis of the shaft; the second adjustmentactuator 120 comprises the motor that rotates a threaded shaft in thethreaded recess such that the second scissor mechanism acts as a strokemultiplier.

Although other configurations are possible, in one illustrativeconfiguration the maximum range of travel for the second positionadjuster 70 is approximately 18 inches along the longitudinal axis, andthe maximum range of travel for the first position adjuster 68 isapproximately 12 inches along the vertical axis.

In an alternate embodiment, the second position adjuster 70 can berotated 90 degrees in the x-y plane with respect to the first positionadjuster 68 to adjust the first position adjuster 68 or its upperplatform 88 along the lateral or Y axis 80, instead of the X axis 78. Inthis document, the second position adjuster 70 that is rotated 90degrees in the x-y plane can be referred to at the third positionadjuster. Further, in the alternate embodiment, the upper carriage 18may be used to perform coarse adjustments to the Y axis 80 or within afirst limited range, whereas the lower carriage 66 may be used toperform fine adjustments to the Y axis 80 within second limited range,where the first limited range and the second limited range overlap orare mutually exclusive ranges along the Y axis 80.

Imaging System

In one embodiment, an imaging system comprises an imaging device 124 andan associated image processing module 911 in the data master dataprocessing system 902 or its data storage device 906. The imaging device124 may comprise a monocular or stereo imaging system for collectingimage data on the spatial alignment of the lower carriage 66 withrespect to one or more plants 148 or rows of plants 148. In oneconfiguration, the imaging system may comprises the imaging device 124(e.g., digital stereo camera) and an image processing module 911 todistinguish plant pixels from background 150 pixels in the collectedimage data, to distinguish the lower carriage 66 from plant pixels andbackground pixels, and to estimate a three-dimensional representation(e.g., three dimensional constellation of pixels or voxels) of the lowercarriage 66 with respect to the one or more plant rows.

An upper motor controller 17 can provide a control signal to control theupper motor 16 to position a nozzle 76 on the lower carriage 66 inaccordance with a target lateral separation to a row of plants 148. Thecontrol signal is responsive to the collected image data. The lowercarriage 66 supports 64 movement of a three-dimensional position of anozzle 76 on the lower carriage 66 by a first position adjuster 68 foradjusting height of the nozzle 76 and a second position adjuster 70 foradjusting a longitudinal position of the nozzle 76 based on thecollected image data. The height is adjusted to maintain a minimumheight clearance with respect to the ground 150 and to maintain arelative height to a peak plant height, an average or median foliageheight, or peak leaf canopy height based on image data. The lowercarriage 66 supports movement of a three-dimensional position of anozzle 76 on the lower carriage 66 by the second position adjuster 70for adjusting a longitudinal position of the nozzle 76 to reduce orminimize a longitudinal offset between the nozzle 76 and plant stem orcentral plant portion.

In one embodiment, the lower carriage 66 or implement carriage supportsvertical position adjustment and fore-and-aft (longitudinal) positionadjustments via a first position adjuster 68 and a second positionadjuster 70.

In an alternate embodiment, the lower carriage 66 or implement carriagesupports vertical position adjustment and lateral position adjustmentvia first position adjuster 68 and a third position adjuster.

In one embodiment, the first position adjuster 68 or first adjustmentassembly comprises a first scissors linkage 84 with four pairs of legs86, an upper platform 88 and a lower platform 90. The legs 86 or legsegments are rotatably connected to each other at central joints and theupper platform 88 and lower platform 90 at other joints. For example,upper legs 86 are rotatably connected to the upper platform 88. Lowerlegs 86 are rotatably connected to the lower platform 90. The upper andlower legs 86 are joined at central pivot points 92 or central joints.

A first pair of central joints are connected by a corresponding firstsupport member 94 and a second pair of central joints are connected by asecond support member 96. For example, a pin, shaft, or bolt extendsthrough bores of the legs 86 at the central joints and into a recess(e.g., threaded recess of) the respective first support member 94 orrespective second support member 96. As illustrated in FIG. 4 and FIG.5, the first support member 94 and the second support member 96 havebores at opposite ends of the first scissor linkage and at least one ofthe bores is arranged to receive a threaded rod, a shaft, bolt, pin orcylindrical member. The first support member 94 has a threaded bore 117for receiving a threaded rod 116 that extends between the first supportmember 94 and the second support member 96, or the first adjustmentactuator 118 attached to the threaded rod 116.

In one embodiment, the first adjustment actuator 118 comprises anelectric motor, a step motor, or a servo-motor.

In an alternate embodiment, the vertical adjustment motor is replaced bya vertical adjustment linear actuator that is mounted to the firstsupport or the second support, with a rod mounted to the opposite one ofthe first support and second support.

FIG. 6 is a block diagram of one embodiment of the electrical orelectronic system 600 for the sprayer that uses wireless communications.As illustrated, the electronic system 600 of FIG. 6 comprises a drivenode system 130, an implement node system 132 and master node system 134that can communicate with each other via any two or more of the wirelesscommunication devices.

The master node system 134 includes a master data processing system 902that is shown in greater detail in FIG. 7. The master node system 134 ormaster data processing system 902 comprises a mission planning module909, a path tracking module 917, a path planning module 910, and anavigation module 907. The mission planning module 909 plans a missionof the sprayer module to treat a field, zones of the field, particularplants 148 or particular target portions of plants 148 within the fieldor zone. For example, the mission plan may assign a three dimensionalcoordinate for or more nozzles 76 of each row unit for a correspondinglocation and attitude orientation of the sprayer vehicle in the field.The image processing system (124, 911, collectively) assists the missionplanning module 909 is adjusting the three-dimensional coordinates forone or more nozzles 76 of each field or zone in accordance with imagedata to achieve the mission plan or targeted application of crop inputsto the plants 148, zones of plants 148, or portions of plants 148 orrows in the field within a certain targeted range of height, lateral,and longitudinal orientation. The path planning module 910 provides apath plan for the sprayer vehicle to follow to execute the mission planand to track rows and to cover a targeted area of the field, given thefield boundaries, keep-out zones and other constraints along withposition data and attitude data for the sprayer vehicle as it traversesthe field or work area. The navigation module 907 facilitates switchingbetween an automated driving mode and manned mode, or obstacle avoidancebased on position data, heading data, velocity data, acceleration datafrom one or more location-determining receivers (e.g., satellitenavigation receivers) and any reliable image data from an imageprocessing device that is suitable for navigation. The path trackingmodule 917 facilitates the sprayer vehicle adhering to the path planwith minimal tracking error, such as lateral error between a target pathplan and an actual path of the vehicle.

In one configuration, a drive node system 130 comprises a control systemcontrols the first drive motor 48, the second drive motor 50, or both.Further, in an alternate embodiment, the driver node system 130 maycontrol a first drive motor 48 for rotating a first wheel, a seconddrive motor 50 for rotating a second wheel. Alternately, first drivemotors 48 can rotate multiple wheels or left wheels, whereas seconddrive motors 50 can rotate multiple right wheels or second wheels. Afirst motor controller 52 provides a control signal or control datamessage to the respective first drive motor 48. A second motorcontroller 52 provides a control signal or control data message to therespective second drive motor 50.

The slave node controller 801 or the master node system 134 processingsystem provide control signals or data messages to first motorcontroller 52 and the second motor controller 54 to control the firstdrive motor 48 and the second drive motor 50 based on position data andattitude data (associated with the beam 10 of the vehicle from thelocation-determining receiver or receivers, 22, 24) and one or more ofthe following: a mission plan of a mission planning module 909, a pathplan of path planning module 910, a path tracking instructions of a pathtracking module 917, and navigation instructions of a navigation module907.

The implement node system 132 comprises an upper motor 16 (e.g., an Xaxis 78 motor), a first adjustment actuator 118 (e.g., Y axis 80 motor),a second adjustment actuator 120 (e.g., a Z axis 82 motor) that areseparately controlled by an upper motor controller 17, a firstadjustment controller 72, and a second adjustment controller 74,respectively. The slave node controller 801 or the master dataprocessing system 902 provides control data messages to the upper motorcontroller 17, the first adjustment controller 72, and the secondadjustment controller 74 to move each row unit to a targetedthree-dimensional position of the lower carriage 66 or its one or morenozzles 76. For example, the mission plan may assign a three dimensionalcoordinate for or more nozzles 76 of each row unit for a correspondinglocation and attitude orientation of the sprayer vehicle in the field.The image processing system assists the mission planning module 909 isadjusting the three-dimensional coordinates for one or more nozzles 76of each field or zone in accordance with image data to achieve themission plan or targeted application of crop inputs to the plants 148,zones of plants 148, or portions of plants 148 or rows in the fieldwithin a certain targeted range of height, lateral, and longitudinalorientation.

FIG. 7 is a block diagram of another embodiment of the electrical orelectronic system 700 for the sprayer. Like reference numbers in FIG. 6and FIG. 7 indicate like elements or features.

In one configuration, the first location-determining receiver 22 isillustrated with an optional second antenna 901 that is spaced apartfrom its first antenna along the beam 10 of the sprayer vehicle 11. Thesecond antenna 901 is optional as indicated by the dashed lines. Thefirst antenna and the second antenna 901 may be time-divisionmultiplexed to receive multiple satellite channels at the firstlocation-determining receiver 22 such that the attitude of the beam 10can be determined by single first location-determining receiver 22,alone or in conjunction with the attitude angle estimator 908.

Alternately, the first location-determining receiver 22 and the secondlocation-determining receiver 24 are spaced apart by a fixed knownbaseline difference, or rather their antennas are spaced apart along thebeam 10, to facilitate simultaneous estimation of positions that can beused by the attitude angle estimator 908 to derive the attitude of thebeam 10.

The master data processing system 902 comprises an electronic dataprocessor 903, a data storage device 906, and data ports 904 coupled toa data bus 905, were the electronic data processor 903, the data storagedevice 906 and the data ports 904 can communicate with each other overthe data bus 905.

In one embodiment, the electronic data processor 903 comprises amicroprocessor, a microcontroller, a digital signal processor, anapplication specific integrated circuit, a programmable logic array, alogic circuit, an arithmetic logic unit, a Boolean logic circuit oranother data processing device.

The data storage device 906 may comprise electronic memory, nonvolatileelectronic random access memory, a magnetic storage device, an opticalstorage device, a magnetic disk drive, or the like.

The data storage device 906 may store software instructions or data(e.g., data structures or look-up tables) for any of the following: anavigation module 907, an attitude angle estimator 908, a missionplanning module 909, a path planning module 910, an image processingmodule 911, a plant (row) position estimator 912 and an adjustmentcontrol module 913. As used in this document, a module may refer tohardware, software, or a combination of software and hardware.

In one configuration, the plant row position estimator 912 determines orestimates the two or more coordinates that defines a generally linearcenter of the plants 148 within a row, or a constellation, cloud, orother three dimensional representation (e.g., height, depth and width orexpressed in terms of x, y and z coordinates) of pixels or voxels of theleaves, stems, canopy, or foliage of the plants 148 in one or more rows.The plant row estimator 912 may estimate two or more coordinates thatdefines a generally linear center of the plants 148 within a row, or aconstellation, cloud, or other three dimensional representation basedupon image data collected by the imaging device 124 and image processingof the master data processing system 902. Further, the plant rowestimator 912 may use pre-existing knowledge of the row spacing used bythe planter for planting the seeds or plants 148, along with anas-planted map of the seed positions or seed locations, where available.

The adjustment control module 913 provides control signals or controldata messages to the upper motor controller 17, the first adjustmentcontroller 72, and the second adjustment controller 74 via the dataports 904 and vehicle data bus 914 or a two or more wirelesscommunications devices 805 in response to image data from the imagingdevice 124, or other sensor data. Similarly, the navigation module 907,mission planning module 909 or path planning module 910 can providecontrol signals or control data messages to the first motor controller52 and the second motor controller 54 via the data ports 904 and vehicledata bus 914 or a two or more wireless communications devices 805 inresponse to position data and attitude of the beam 10 or sprayervehicle.

In one embodiment, for spraying operations the mission planning module909 or the electronic data processor 903 generates or receives aspraying plan, such as a spraying plan versus position in the field orzone within field, such as on a row-by-row basis or section of a rowbasis. Then, the mission planning module 909 or the electronic dataprocessor 903 can send control signals or data messages based on thespraying plan to a first electrohydraulic valve 81 and a secondelectrohydraulic valve 83 associated with each sprayer row unitconnected to the vehicle 11 as the vehicle 11 progresses through thefield based on an observed position of one or more location-determiningreceivers (22, 24). For example, the first electrohydraulic valve 81 andthe second electrohydraulic valve 83 are integral with the first nozzle176 and second nozzle 276, respectively, to control fluid emitted fromthe nozzles, or the valves can be associated with manifold 678 tocontrol fluid supplied to the first nozzle 176 and the second nozzle 276via tubes 679 (in FIG. 15) in accordance with the spraying plan versusobserved field position.

In another embodiment, for planting or seeding operations the missionplanning module 909 or electronic data processor 903 generates orreceives a planting plan, such as a planting plan versus position in thefield or zone within field, such as on a row-by-row basis or section ofa row basis. Then, the mission planning module 909 or the electronicdata processor 903 can send control signals or data messages based onthe planting plan to a planting device 681, a seed metering device 673and/or an electric motor 756 for a tiller associated with each planterrow unit 691 connected to the vehicle 11 as the vehicle 11 progressesthrough the field based on an observed position of one or morelocation-determining receivers (22, 24). For example, the electronicdata processor 903 can send control signals to the seed metering devices673 of multiple planter row units 691 on a row-by-row or section of arow basis to vary the seeding density or spacing in accordance with theplanting plan versus observed field position.

FIG. 8A and FIG. 8B are a plan views of an embodiment of the sprayervehicle 11. Like reference numbers indicate like elements or features inFIG. 1, FIG. 8A and FIG. 8B.

In FIG. 8A and FIG. 8B the sprayer vehicle 11 is traveling forward inleftward direction as indicated by the arrow. A beam axis 803 extendslengthwise through the beam 10 and is coextensive with the Y axis, asillustrated in FIG. 1 in combination with FIG. 8A. The plant rows 802are generally linear and substantially parallel to each other in FIG. 8Aand FIG. 8B.

In FIG. 8A the sprayer vehicle 11 has heading or yaw angle that isaligned with the plant rows 802 in the field in accordance with a pathplan. For example, as illustrated, the heading or yaw angle is alignedwith the plant rows when the observed angle 801 between a representativeplant row 802 and the beam axis 803 or the Y axis is approximatelyninety degrees or a right angle. As a component of the vehicle attitude,the heading or yaw angle can be estimated by the location-determiningreceivers (22, 24) as previously described.

FIG. 8B is a plan view of an embodiment of the sprayer vehicle 11 with aheading or yaw angle that is misaligned with plant rows 802 in a field.For example, the observed angle 807 between the plant row 802 and thebeam axis 803 or the Y axis is no longer approximately ninety degrees ora right angle. Instead, there is a heading error angle 804 that can bemodeled as the difference between ninety degrees and the actual observedangle 807 between the plant row and the beam axis 803 or the Y axis.

The location-determining receivers (22, 24) provide the attitude of thebeam 10 or sprayer vehicle 11, where the attitude includes the yaw angleor heading angle among other things. The master node system 134comprises a path tracking module 917 that facilitates tracking of a pathplan and minimizing or reduction of an heading error that mightotherwise result in inaccurate application of crop inputs because oflagging side or leading side of the sprayer vehicle 11 is misaligned bythe heading error angle 804 and an associated error offset distance withrespect to a target zone of a spraying prescription that requires aparticular corresponding dosage, concentration or rate of applied cropinput.

FIG. 9 is a front elevation view of the sprayer vehicle 11 on atransversely sloped ground with a depression 995 beneath one row unit.FIG. 9 is similar to FIG. 2 except the sprayer vehicle 11 is ontransversely sloped ground 150 that slopes downward to the right.Further, the second row unit 65 is in a depression 995. The firstposition adjuster 68 of the first row unit 63 is adjusted to a differentheight than the first position adjuster 68 of the second row unit 65.For example, the first position adjuster 68 of the second row unit 65may expanded downward toward the ground or depression 955 along the Zaxis more than the first position adjuster 68 of the first row unit 63,such that a target height 996 (e.g., uniform height) is kept between theground or depression 955 and the bottom of each row unit (63, 65) ornozzle (76, 176), or such that a uniform height is kept between thenozzles (76, 176) of the respective row units and corresponding plantsin the rows.

FIG. 9 illustrates position error of the location-determining receiver(22, 24) on a transversely sloped ground 150 that is compensated for bythe observed attitude or observed roll determined by one or more of thelocation-determining receivers (22, 24).

In alternate embodiments, the roll angle of the sprayer vehicle 10 maybe estimated by one or more accelerometers or gyroscopes.

The location determining receiver (22, 24), the path tracking module917, the navigation module 907 or the data processor 903 can determine aposition difference between the Z-axis (which is relative to the sprayervehicle 10) and a normal axis that is perpendicular to the ground 150 orsurface of the Earth. The position difference can be used to generate acorrection such that the sprayer vehicle 10 is properly aligned with theplant rows 148 in accordance with a path plan.

FIG. 10 is similar to FIG. 2 except the one or more spatial dimensionsof the nozzle are observed with reference to plant rows and the ground.Like reference numbers in FIG. 10 and FIG. 2 indicate like elements orfeatures.

FIG. 10 is front elevation view of the sprayer vehicle 10 with avertical target height 176 between the nozzle (76, 176) and ground 150or with a vertical target height 176 with respect to a peak plantheight, a median plant height or an average plant height for the plantrow 148 based on a three dimensional representation of the plant fromcollected image data. A first lateral target separation distance 981represents a distance between a first nozzle 176 and the plant row,plant row center, plant center, plant stem, plant stalk, or plant trunk.A second lateral target separation distance 982 represents a distancebetween a second nozzle 176 and the plant row, plant row center, plantcenter, plant stem, plant stalk, or plant trunk on the same lowercarriage 66 as the first nozzle 176. As illustrated in FIG. 10, thefirst lateral target separation distance 981 is between a left plant row148 and the first nozzle 176 of a row unit, whereas the second lateraltarget separation distance 982 is between the second nozzle 176 and aright plant row 148 adjacent to the left plant row of the same row unit.

In one example, the first position adjuster 68 can adjust the nozzles(76, 176) to be located at a target height above the ground 150 or withrespect to a plant height of plant row 148. In another example, theupper carriage 18, or upper motor controller 17 in conjunction with theupper motor 16, can adjust the nozzles (76, 176) to be located atcertain lateral spacing or lateral distance (981, 982) between theplant, plant center, plant row center, plant stem, plant trunk, plantstalk, plant row, plant root zone, or other reference point associatedwith the plant. In one embodiment, the reference points(three-dimensional coordinates) associated with plant can be based on athree-dimensional representation of plant pixels or voxels, such as aconstellation or cloud of plant pixels defined in three dimensionalcoordinates that derived from stereo image data collected and processedby the image processing system.

FIG. 11 is a plan view of a sprayer vehicle 10 in an illustrative fieldof plant rows 802 following a path plan (975, 972) to treat or spray anarea of a field. The sprayer vehicle 10 follows a path plan thatcomprises generally parallel linear segments 975 within a field with afield boundary 971, where the linear segments 975 are interconnected byrow end turns 972 in headlands 973, a work area, or in other regionsadjoining the field. The direction of travel of the sprayer vehicle 10is indicated by the arrow 974.

The path plan of FIG. 11 is merely representative of one possible pathplan to cover the area of the field and other path plans can fall withinthe scope of this document and the accompanying claims.

FIG. 12 is a front elevation view of a planter vehicle 211 with twoillustrative planter row units 691. For some embodiments, the planterrow units 691 may also be referred to as planting devices. The plantervehicle 211 of FIG. 12 is similar to the sprayer vehicle 11 oragricultural vehicle of FIG. 1, except the lower carriage 66 of FIG. 1is replaced with a lower carriage 166 in FIG. 12. The lower carriage 166is similar to the lower carriage 66, except that the lower carriage 166is configured as a planter and has a seed bin 172 for feeding arespective planter row unit 691 via a seed tube 676. Each planter rowunit 691 has a planting device with an adjustable position in one ormore dimensions with respect to the beam 10. For example, the first rowunit comprises a first planting device and the second row unit comprisesa second planting device.

Although the seed bin 172 is associated with a respective planter rowunit 691, in alternate embodiments, tanks 36 and 38 may be replaced byone or more central seed bins for pneumatically feeding each planter rowunit 691 or the respective seed bins 172 of each planter row unit 691.For example, in an alternate embodiment a seed bin level sensor in eachrespective seed bin 172 can trigger the transfer for seeds from thecentral seed bin to the respective seed bins 172 via tubing.

FIG. 13 is side view of a lower carriage 166 of a planter row unit 691as viewed along reference line 13-13 of FIG. 12. In one embodiment, aplanter row unit 691 comprises a movable lower carriage 166 suspendedfrom the beam 10. A seed bin 172 is on the lower carriage 166. A seedmetering device 673 receives seed from the seed bin 172 via a seed tube676 and regulates the flow of seeds to a seed outlet to achieve anas-planted target seed density per row, per section of row, or seeddensity per unit land area of a field.

As illustrated in FIG. 12 and FIG. 13, the seed bin 172 is disposedabove the first adjustment controller 72 and the second adjustmentcontroller 74. Alternately, the seed bin 172 can be placed abovebatteries on the upper platform 88 or the frame 100. The seed bin 172feeds an input port 751 of the seed metering device 673 via the tube676. The seed metering device 673 controls the output rate of seed froman outlet port 752 of the seed metering device 673. The outlet port 752of the seed metering device 673 is connected to seed tube 676 thatterminates in an outlet 692, near an optional knife or optional cuttingedge 676 at a depth 392 below a ground level 393 or ground height.

For each planter row unit 591, the seed metering device 673 supportscontrol of an as-planted target seed density or seed-to-seed spacing ineach row of planted seed. In one example, the seed metering device 673can alter the output rate of seed from the outlet port 752 to compensatefor changes in speed or velocity of the planter row unit 691 or theplanter vehicle 211. In another example, the seed metering device 673can alter the output rate of seed from the output port 752 to change theas-planted seed density in a row or in a section of a row in accordancewith a seed planting plan or an agronomic prescription.

The planter row unit 691 is configured to move in the direction oftravel shown by the arrow 694 during planting operations. However,during a pause in planting operations, during transit or duringalignment for planting operations the planting vehicle 211 can move invirtually any direction without any practical distinction from the frontor rear of the planting vehicle 211.

An opener 675, such as a disc or coulter, opens the soil for placementof the seeds from the outlet 692. The opener 675 may be stationary ormay rotate with respect to a shaft 693. The opener 675 is supported bysupport member 674 that extends downward from the lower platform 90. Theseed outlet 692 is positioned adjacent to or near the opener 675 fordepositing seed into the opened soil. A trailing member 672 extendsdownward, rearward from a rear of the lower platform 90. The trailingmember 672 supports a closer 671, which comprises a stationary orrotatable roller, a rotatable serrated wheel, or a wheel assembly forclosing the soil after the seed is placed from the seed outlet 692 inthe opened soil or furrow. In one configuration, the closer 671 isspaced apart longitudinally from the seed outlet 692 or opener 675 inthe direction of travel of the agricultural machine.

In one embodiment, the first adjustment controller 72 or another dataprocessor 903 can control the first adjustment actuator 118 on the lowercarriage 166 to adjust the planting depth 392 of seed on a row-by-rowbasis or for a section of row of the planted seed by adjusting the depth392 or height of the seed outlet 692, cutting edge 676, the opener 675or other ground-engaging members. Similarly, the first adjustmentcontroller 72 or another data processor 903 can control the firstadjustment actuator 118 on the lower carriage 166 to adjust draft forcesor imbalances in draft forces from different planter row units 691 byadjusting the depth 392 or the height of the seed outlet 692, cuttingedge 676, the opener 675 or other ground-engaging members, such that theplanter vehicle 691 tracks properly a target path plan, or a targetheading (e.g., such that the draft forces on different row units arebalanced collectively). The target path plan or target headingcorresponds to the position (e.g., geographic coordinates) of theplanter vehicle 211, or its row unit 691, associated with path plan,such as a generally linear parallel rows or swaths, contour paths,spiral paths, or other paths of the planter vehicle 691 to cover a fieldarea.

During the planting, the second adjustment controller 74 or another dataprocessor 903 can control the second adjustment actuator 120 to adjustor vary, independently and dynamically, the lateral position or offsetof each planter row unit 691; hence, each planted seed or section ofseeds within any row with respect to an adjacent row. Accordingly, theplanter row units 691 can achieve collectively very precise patterns andtargeted seed density for a given zone within a field, or can varyprecisely the targeted seed density for corresponding zones in thefield. For example, a first zone can have a first seed density within afirst range (e.g., first tolerance expressed in seeds per land unitarea), whereas a second zone can have a second seed density within asecond range, where the first range is distinct from and does notoverlap with the second range (e.g., second tolerance expressed in seedsper land unit area).

In one example, the first adjustment controller 72 or another dataprocessor 903 can control the first adjustment actuator 118 on the lowercarriage 166: (1) to adjust dynamically or statically the planting depth392 (e.g., along the Z axis) of the seeds on a row-by-row basis or for asection of row of plants, or even for a single plant; or (2) to vary theheight of the seed outlet 692, cutting edge 676, the opener 675 or otherground-engaging members to adjust thereby the correlated planting depthof seeds that is correlated to the aforementioned height. In anotherexample, the second adjustment controller 74 or another data processor903 can control the second adjustment actuator 120 (e.g., along the Xaxis) in the longitudinal direction of travel to adjust the longitudinalposition of the seed outlet 692 or planted seeds on a row-by-row basisor for a section of row of plants, or even for a single plant. In stillanother example, the upper motor controller 17 can control the uppermotor 16 to control the lateral position (e.g., along the Y axis) of theseed outlet 692 or seeds on a row-by-row basis or for a section of rowof plants, or even for a single plant.

FIG. 14 is a front elevation view of a sprayer vehicle 311 with twoillustrative sprayer row units shown. The sprayer vehicle of FIG. 14 issimilar to the sprayer vehicle 11 of FIG. 1, except the lower carriage266 of the sprayer row unit is configured with a set of nozzles (176,276). As illustrated, the nozzles (e.g., first nozzle 176 and secondnozzle 276) face generally opposite directions, where the nozzles 176may be directed to cover planted seeds, soil or plants in adjacent rowsor adjacent sections of a field.

FIG. 15 is a perspective view of an alternate embodiment of a lowercarriage 266 of a sprayer row unit as viewed along reference line 15-15of FIG. 14. The lower carriage 266 of FIG. 14 and FIG. 15 is adapted toprovide simultaneous bi-directional spraying of crop inputs onto one ormore rows of crop, or associated soil of a field.

Referring to FIG. 14 in conjunction with FIG. 15, the crop inputs, suchas pesticide, herbicide, fungicide or fertilizer, in fluid or liquidphase are stored in first tank 36 and a second tank 38. A pump (32, 34)provides crop inputs as pumped fluid via tubing 136 to manifold 678. Inone embodiment, the manifold 678 comprises a first electrohydraulicvalve 81 for controlling a flow (e.g., on versus off), flow rate,pressure, droplet size, atomization, pattern, or other sprayingparameters of fluid emitted from a first nozzle 176 and a secondelectrohydraulic value for controlling a flow (e.g., on versus off),flow rate, pressure, droplet size, atomization, pattern, or otherspraying parameters of fluid emitted from a second nozzle 276.

In an alternate embodiment, the manifold 678 merely provides apassageway or interconnection (e.g., tee or Y connection) to distributethe crop input, liquid or fluid from an input 680 to the first nozzle176 and the second nozzle 27 via tubes 679, where the first nozzle 176may comprise a first electrohydraulic valve 81 for controlling a flow(e.g., on versus off), flow rate, pressure, droplet size, atomization,pattern, or other spraying parameters of fluid emitted from a firstnozzle 176 and where the second nozzle 276 may comprise and a secondelectrohydraulic value for controlling a flow (e.g., on versus off),flow rate, pressure, droplet size, atomization, pattern, or otherspraying parameters of fluid emitted from a second nozzle 276.

In one embodiment, an electronic data processor 903 or a missionplanning module 909 can provide a control signal (e.g., via data port904 to a wireless communications link, such as the Institute ofElectrical and Electronics Engineers (IEEE) 802.11 standard, or via atransmission line) to the first electrohydraulic valve 81 and the secondelectrohydraulic valve 85 (in the manifold or in the first nozzle 176and the second nozzle 276) in accordance with a manual setting, amission plan, a spraying plan, or an agronomic prescription. Anelectronic data processor 903 or mission planning module 909 can providea control signal to the a first electrohydraulic valve 81 and the secondelectrohydraulic valve 85 to control flow of crop input emitted from thefirst nozzle 176 and the second nozzle 276, respectively, in accordancewith a manual setting, a mission plan, a spraying plan, or an agronomicprescription. For example, a mission plan, spraying plan or agronomicprescription may comprise a set of spraying parameters (e.g., rate,concentration, pressure, droplet size) versus position of the lowercarriage 266 or sprayer row unit in the field based upon a positionprovided by a first location-determining receiver 22 and/or a secondlocation determining receiver 24.

In one embodiment, the first nozzle 176 and the second nozzle 276 areassociated with an adjustable reference position in one or moredimensions with respect to the beam 10. In one example, the firstadjustment controller 72 or another data processor 903 can control thefirst adjustment actuator 118 on the lower carriage 266 to adjustdynamically or statically the spraying height (e.g., along the Z axis)of the first nozzle 175 and the second nozzle 275 on a row-by-row basisor for a section of row of plants, or even for a single plant. Inanother example, the second adjustment controller 74 or another dataprocessor 903 can control the second adjustment actuator 120 (e.g.,along the X axis) in the longitudinal direction of travel. In stillanother example, the upper motor controller 17 can control the uppermotor 16 to control the lateral position (e.g., along the Y axis) of thefirst nozzle 175 and the second nozzle 275 on a row-by-row basis or fora section of row of plants, or even for a single plant.

FIG. 16 is a perspective view of an alternate embodiment of a lowercarriage 366 of a planter unit that supports dynamic and preciseplacement of seeds. For each row unit, the lower carriage 166 of FIG. 12may be replaced with the lower carriage 366 of FIG. 16, for example.

In FIG. 16, he seeds are stored in a seed bin 172, which can be locatedabove or on the upper platform 88, or frame 100. As illustrated, theseed bin 172 is located above the first adjustment controller 72, thesecond adjustment controller 74, or batteries. The seed bin 172 may havea funnel shaped lower portion that feeds tube 676 with seed (e.g., bygravity). The tube 676 terminates in a planting device 681.

In one embodiment, the planting device 681 has an input 754 coupled theseeding tube 676 and an output coupled to a rigid planting tube 682. Theplanting device 681 may be associated with an electromechanical valve orelectro-pneumatic valve that can be open or closed to regulate flow ofseed between the input 754 and the output of the planting device 681. Inone embodiment, the mission planning module 909 or the electronic dataprocessor 903 generates a control signal to control the planting device681, or its valve, to regulate the flow of seed that is planted into thesoil or ground. For instance, the electronic data processor 903 ormission planning module 909 sends the control signal to the plantingdevice 681 via data port 904 to a wireless communications link, such asthe Institute of Electrical and Electronics Engineers (IEEE) 802.11standard, or via a transmission line. The planting device 681 may useits valve, gravity and/or air pressure to control the dispensation orplanting of seeds from the output of the planting device 681 through theplanting tube 682 and into or on the ground.

In one embodiment, the planting device 681 has a rigid planting tube 682with a pointed or sharpened leading edge 755 for penetrating the groundor soil. In another embodiment, the leading edge 755 or tip of the rigidplanting tube 681 comprises an annular edge. In an alternate embodiment,the leading edge 755 of the rigid planting tube comprises a sharpened,tapered annular edge or a hollow cylindrical spear-shaped portion.

A central axis 697 of the planting tube 682 or its leading edge 755 maybe aligned with a planned seed or plant location for each seed or plantto be planted in a grid or other planting bed pattern. In oneembodiment, an electronic data processor 903 or a plant (row) positionestimator 912 determines the seed or plant location based on threedimensional position data estimated by one or more location determiningreceivers (22, 24) on the agricultural vehicle (e.g., planter vehicle)and the three dimensional position of the row unit for any respectiveplanting tube 682. For example, the three dimensional position of anylower carriage 366; hence, the three dimensional position of the axis697 of the planting tube 682, depends upon the x, y and z coordinatepositions of the lower carriage 366 with respect a positional referenceframe or global reference frame that is estimated by the one or morelocation determining receivers (22, 24) on the agricultural vehicle.

As the vehicle moves through the field, actuators (118, 120, 16),controllers (72, 74, 17), and/or position sensors or encoders associatedwith one or more actuators (118, 120, 16) or one or more controllers(72, 74, 17) can estimate x, y, z coordinate positions of each lowercarriage 36 with respect to one or more reference points on theagricultural vehicle, such as a reference point that coincides with aknown offset to respective antennae of one or more location determiningreceivers (22, 24). The plant (row) position estimator 912, the pathplanning module 910, the mission planning module 909 and/or the dataprocessor 903 can estimate the three dimensional position of eachplanting tube 682 for a corresponding lower carriage 366 (or row unit)on a time interval by interval basis, as the vehicle traverses through afield. The plant (row) position estimator 912, the mission planningmodule 909 and/or the data processor 903 can determine a difference orerror between the current position of each lower carriage 366, row unit,or planting tube 682 and a target position of such lower carriage 366,row unit, or planting tube 682 from a stored mission plan, seed plantingplan, or the like stored in a data storage device 906. The plant (row)position estimator 912, the mission planning module 909, and/or the dataprocessor 903 can send data messages or commands to the actuators (118,120, 16) or controllers (72, 74, 17) to move the respective plantingtube 682 to a target position that minimizes a difference or errorbetween the current position of each lower carriage 366, row unit, orplanting tube 682 and a target position of such lower carriage 366, rowunit, or planting tube 682 from a stored mission plan, seed plantingplan, or the like stored in a data storage device 906.

In one embodiment, the electronic data processor 903 or mission planningmodule 909 sends the control signal to plant one or more seeds during atime interval to the planting device 681 via data port 904 to a wirelesscommunications link, such as the Institute of Electrical and ElectronicsEngineers (IEEE) 802.11 standard, or via a transmission line.Accordingly, each lower carriage 366 or planter row unit of the plantervehicle can plant the seed at precise locations in virtually anypattern, such as rows, equidistant seed spacing in one or moredimensions, elliptical, circular or hill seed placement, spiral seedplacement, uniform seed density per seed bed area, variable seed densityper seed bed area, or other targeted seed spacing. However, the plant(row) position estimator 912, mission planning module 909, or dataprocessor 903 may place constraints or limits on the possible seedpatterns to limit the planted seed pattern to rows or sets of rows tomatch the configuration (e.g., row spacing) of a harvester or combine,if necessary. For example, a harvester or combine for corn may beconfigured to harvest rows with generally uniform spacing within certaintolerances.

FIG. 17 is a perspective view of an alternate embodiment of a lowercarriage 466 of a planter unit that is equipped with dynamic placementof seeds and a rotatable soil tiller 683. The lower carriage 466 of FIG.17 is similar to the lower carriage 366 of FIG. 16, except the lowercarriage 466 of FIG. 17 further comprises a rotatable soil tiller 683 toloosen, cultivate the soil in preparation for dispensation or plantingof seed. As illustrated in FIG. 17, the soil tiller 683 is coaxiallymounted with the axis 697 of the planting tube 682. In one embodiment,soil tiller has a cork-screw shape, a spiral shape, or the shape of acoil spring. The soil tiller 683 may be driven or rotated by a rotor ofan electric motor 756 via a coupler or torque coupling device. In oneconfiguration, the electric motor 756 has a housing or stator mounted tothe lower platform 88.

Having described the preferred embodiment, it will become apparent thatvarious modifications can be made without departing from the scope ofthe invention as defined in the accompanying claims.

The following is claimed:
 1. An agricultural machine, the agricultural machine comprising: a left frame; a left wheel being rotatable with respect to the left frame; a first leg extending upward from the left frame; a right frame; a right wheel being rotatable with respect to the right frame; a second leg support extending upward from the right frame; a beam connecting the first leg to the second leg; one or more satellite navigation receivers are associated with the beam to determine a reference point position on the beam and an attitude or angular orientation of the beam; at least one row unit suspended from the beam, each row unit having a respective planting device with an adjustable position in one or more dimensions with respect to the beam.
 2. The agricultural machine according to claim 1 wherein the one or more satellite navigation receivers comprises a first satellite navigation receiver with two switched antennas that are spatially separated along the beam, such that the satellite navigation receiver can determine a first position of a first antenna and a second position of a second antenna to estimate the reference point position and the attitude.
 3. The agricultural machine according to claim 1 wherein the one or more satellite navigation receivers comprises: a first satellite navigation receiver on a first end of the beam, wherein the first satellite navigation receiver determines a first position; a second satellite navigation receiver on a second end of the beam opposite the first end, wherein the second satellite receiver determines a second position simultaneously with the determination of the first position; an electronic data processor for estimating the reference point associated with the beam of the machine and an angular orientation or attitude of the beam relative to the reference point.
 4. The agricultural machine according to claim 1 wherein the attitude comprises at least one of the roll angle, tilt angle or yaw angle of the beam or the machine.
 5. The agricultural machine according to claim 1 wherein the left wheel and the right wheel have a differential rate of rotation with respect to each other to adjust the yaw of the machine, or turn the machine to the left or to the right.
 6. The agricultural machine according to claim 1 further comprising: a first electric drive motor associated with the left wheel; a first motor controller providing a first alternating current signal to control the rotation of the first electric drive motor; a second electric drive motor associated with the right wheel; a second motor controller providing a second alternating current signal to control the rotation of the second electric drive motor; a data processor for providing command data messages to the first motor controller and the second motor controller to effectuate a substantially identical rate of rotation between the first electric drive motor and the second electric drive motor to maintain a straight linear path of the agricultural machine in accordance with a path plan such that the beam forms a substantially right angle of the angular orientation with respect to one or more rows of seed to be planted in a field.
 7. The agricultural machine according to claim 1 wherein the at least one row unit further comprises: a first row unit that is suspended from the beam, the first row unit comprising a first planting device; a second row unit that is suspended from the beam, the second row unit comprising a second planting device, where the first row unit and the second row unit are spaced apart from each other, and where a first three-dimensional position of the first row unit is independently adjustable from a second three-dimensional position of the second row unit.
 8. The agricultural machine according to claim 1 wherein the at least one row unit comprises: a movable lower carriage suspended from the beam; a seed bin on the lower carriage; a seed metering device receiving seed from the seed bin via a seed tube and regulating the flow of seeds to a seed outlet; a support extending downward from the lower carriage; an opener associated with the support for opening soil for seed; the seed outlet positioned adjacent to or near the opener for depositing seed into the opened soil; and a closer spaced apart longitudinally from the seed outlet or opener in the direction of travel of the agricultural machine.
 9. The agricultural machine according to claim 8 further comprising: a cutting edge or knife associated with the seed outlet for engaging the soil.
 10. The agricultural machine according to claim 9 further comprising: an actuator for adjusting the vertical height of the seed outlet, the cutting edge or the opener of the at least one row units carried by the agricultural machine to adjust or balance draft forces such that the agricultural machine tracks a target path plan.
 11. The agricultural machine according to claim 1 wherein the at least one row unit further comprises: a plurality of movable lower carriages suspended from the beam; a plurality of supports extending downward from corresponding ones of the lower carriages; a plurality of openers associated with corresponding supports for opening soil for seed; and a plurality of seed outlets, each of the seed outlets positioned adjacent to or near a respective one of the openers for depositing seed into the opened soil; and a plurality of closers, each of the closers spaced apart longitudinally from a corresponding one of the seed outlets or openers in the direction of travel of the agricultural machine; a plurality of actuators, each of the actuators associated with a corresponding one of the lower carriages for adjusting the vertical height of the seed outlet of different row units carried by the agricultural machine to adjust or balance draft forces from engagement of the row unit with the ground such that the agricultural machine tracks a target path plan.
 12. The agricultural machine according to claim 1 wherein the respective planting device for each of the row units further comprises: a movable lower carriage suspended from the beam; a valve on the corresponding lower carriage that can be open or closed to regulate flow of seed between the input and the output of the respective planting device; rigid planting tube extending downward from the respective planting device, the planting tube having a pointed or sharpened leading edge for penetrating the ground or soil.
 13. The agricultural machine according to claim 12 further comprising an electronic data processor for generating a control signal to control the planting device, or the valve, to regulate the flow of seed that is planted into the soil or ground.
 14. The agricultural machine according to claim 13 wherein a central axis of the planting tube or the leading edge may be aligned with a planned seed or plant location for each seed or plant to be planted in a grid or other planting bed pattern.
 15. The agricultural machine according to claim 14 further comprising: a plant position estimator or the electronic data processor for determining each seed or plant location in a field based on three dimensional position data estimated by the one or more location determining receivers on the agricultural vehicle and the three dimensional position of the row unit for any respective planting tube, which depends upon the x, y and z coordinate positions of the lower carriage with respect a positional reference frame or global reference frame that is estimated by the one or more location determining receivers on the agricultural vehicle.
 16. The agricultural machine according to claim 14 further comprising the plant position estimator determining a difference or error between the current position of each lower carriage, row unit, or planting tube and a target position of such lower carriage, row unit, or planting tube from a stored mission plan or seed planting plan stored in a data storage device; the plant position estimator adapted to send data messages or commands to an actuators or controllers to move the respective planting tube to a target position that minimizes a difference or error between the current position of each lower carriage, row unit, or planting tube and a target position of such lower carriage, row unit, or planting tube from a stored mission plan, seed planting plan, or the like stored in a data storage device.
 17. The agricultural machine according to claim 1 wherein the at least one row unit comprises: a plurality of movable lower carriages suspended from the beam; a plurality of valves on the corresponding lower carriages, where each of the valves can be open or closed to regulate flow of seed between the input and the output for the respective row unit; a plurality of rigid planting tubes, each rigid planting tube extending downward from the planting device of the respective row unit, each rigid planting tube having a pointed or sharpened leading edge for penetrating the ground or soil. 